Hand-crafting generalised decision-making rules for real-world urban autonomous driving is hard. Alternatively, learning behaviour from easy-to-collect human driving demonstrations is appealing. Prior work has studied imitation learning (IL) for autonomous driving with a number of limitations. Examples include only performing lane-following rather than following a user-defined route, only using a single camera view or heavily cropped frames lacking state observability, only lateral (steering) control, but not longitudinal (speed) control and a lack of interaction with traffic. Importantly, the majority of such systems have been primarily evaluated in simulation - a simple domain, which lacks real-world complexities. Motivated by these challenges, we focus on learning representations of semantics, geometry and motion with computer vision for IL from human driving demonstrations. As our main contribution, we present an end-to-end conditional imitation learning approach, combining both lateral and longitudinal control on a real vehicle for following urban routes with simple traffic. We address inherent dataset bias by data balancing, training our final policy on approximately 30 hours of demonstrations gathered over six months. We evaluate our method on an autonomous vehicle by driving 35km of novel routes in European urban streets.

We demonstrate the first application of deep reinforcement learning to autonomous driving. From randomly initialised parameters, our model is able to learn a policy for lane following in a handful of training episodes using a single monocular image as input. We provide a general and easy to obtain reward: the distance travelled by the vehicle without the safety driver taking control. We use a continuous, model-free deep reinforcement learning algorithm, with all exploration and optimisation performed on-vehicle. This demonstrates a new framework for autonomous driving which moves away from reliance on defined logical rules, mapping, and direct supervision. We discuss the challenges and opportunities to scale this approach to a broader range of autonomous driving tasks.

Autonomous vehicle (AV) software is typically composed of a pipeline of individual components, linking sensor inputs to motor outputs. Erroneous component outputs propagate downstream, hence safe AV software must consider the ultimate effect of each component’s errors. Further, improving safety alone is not sufficient. Passengers must also feel safe to trust and use AV systems. To address such concerns, we investigate three under-explored themes for AV research: safety, interpretability, and compliance. Safety can be improved by quantifying the uncertainties of component outputs and propagating them forward through the pipeline. Interpretability is concerned with explaining what the AV observes and why it makes the decisions it does, building reassurance with the passenger. Compliance refers to maintaining some control for the passenger. We discuss open challenges for research within these themes. We highlight the need for concrete evaluation metrics, propose example problems, and highlight possible solutions.

Recurrent neural networks (RNNs) are notoriously difficult to train. When the eigenvalues of the hidden to hidden weight matrix deviate from absolute value 1, optimization becomes difficult due to the well studied issue of vanishing and exploding gradients, especially when trying to learn long-term dependencies. To circumvent this problem, we propose a new architecture that learns a unitary weight matrix, with eigenvalues of absolute value exactly 1. The challenge we address is that of parametrizing unitary matrices in a way that does not require expensive computations (such as eigendecomposition) after each weight update. We construct an expressive unitary weight matrix by composing several structured matrices that act as building blocks with parameters to be learned. Optimization with this parameterization becomes feasible only when considering hidden states in the complex domain. We demonstrate the potential of this architecture by achieving state of the art results in several hard tasks involving very long-term dependencies.

We present \small PESMO, a Bayesian method for identifying the Pareto set of multi-objective optimization problems, when the functions are expensive to evaluate. \small PESMO chooses the evaluation points to maximally reduce the entropy of the posterior distribution over the Pareto set. The \small PESMO acquisition function is decomposed as a sum of objective-specific acquisition functions, which makes it possible to use the algorithm in \emphdecoupled scenarios in which the objectives can be evaluated separately and perhaps with different costs. This decoupling capability is useful to identify difficult objectives that require more evaluations. \small PESMO also offers gains in efficiency, as its cost scales linearly with the number of objectives, in comparison to the exponential cost of other methods. We compare \small PESMO with other methods on synthetic and real-world problems. The results show that \small PESMO produces better recommendations with a smaller number of evaluations, and that a decoupled evaluation can lead to improvements in performance, particularly when the number of objectives is large.

There has been a surge of research interest in developing tools and analysis for Bayesian optimization, the task of finding the global maximizer of an unknown, expensive function through sequential evaluation using Bayesian decision theory. However, many interesting problems involve optimizing multiple, expensive to evaluate objectives simultaneously, and relatively little research has addressed this setting from a Bayesian theoretic standpoint. A prevailing choice when tackling this problem, is to model the multiple objectives as being independent, typically for ease of computation. In practice, objectives are correlated to some extent. In this work, we incorporate the modelling of inter-task correlations, developing an approximation to overcome intractable integrals. We illustrate the power of modelling dependencies between objectives on a range of synthetic and real world multi-objective optimization problems.

Stochastic variational inference (SVI) is emerging as the most promising candidate for scaling inference in Bayesian probabilistic models to large datasets. However, the performance of these methods has been assessed primarily in the context of Bayesian topic models, particularly latent Dirichlet allocation (LDA). Deriving several new algorithms, and using synthetic, image and genomic datasets, we investigate whether the understanding gleaned from LDA applies in the setting of sparse latent factor models, specifically beta process factor analysis (BPFA). We demonstrate that the big picture is consistent: using Gibbs sampling within SVI to maintain certain posterior dependencies is extremely effective. However, we also show that different posterior dependencies are important in BPFA relative to LDA.

We develop \textit{parallel predictive entropy search} (PPES), a novel algorithm for Bayesian optimization of expensive black-box objective functions. At each iteration, PPES aims to select a \textit{batch} of points which will maximize the information gain about the global maximizer of the objective. Well known strategies exist for suggesting a single evaluation point based on previous observations, while far fewer are known for selecting batches of points to evaluate in parallel. The few batch selection schemes that have been studied all resort to greedy methods to compute an optimal batch. To the best of our knowledge, PPES is the first non-greedy batch Bayesian optimization strategy. We demonstrate the benefit of this approach in optimization performance on both synthetic and real world applications, including problems in machine learning, rocket science and robotics.

We investigate the Student-t process as an alternative to the Gaussian process as a nonparametric prior over functions. We derive closed form expressions for the marginal likelihood and predictive distribution of a Student-t process, by integrating away an inverse Wishart process prior over the covariance kernel of a Gaussian process model. We show surprising equivalences between different hierarchical Gaussian process models leading to Student-t processes, and derive a new sampling scheme for the inverse Wishart process, which helps elucidate these equivalences. Overall, we show that a Student-t process can retain the attractive properties of a Gaussian process – a nonparametric representation, analytic marginal and predictive distributions, and easy model selection through covariance kernels – but has enhanced flexibility, and a predictive covariance that, unlike a Gaussian process, explicitly depends on the values of training observations. We verify empirically that a Student-t process is especially useful in situations where there are changes in covariance structure, or in applications like Bayesian optimization, where accurate predictive covariances are critical for good performance. These advantages come at no additional computational cost over Gaussian processes.

Extract transform and load (ETL) is a critical process used by industrial organisations to shift data from one database to another, such as from an operational system to a data warehouse. With the increasing amount of data stored by industrial organisations, some ETL processes can take in excess of 12 hours to complete; this can leave decision makers stranded while they wait for the data needed to support their decisions. After designing the ETL processes, inevitably data requirements can change, and much of the data that goes through the ETL process may not ever be used or needed. This paper therefore proposes a framework for dynamically detecting and predicting unnecessary data and preventing it from slowing down ETL processes - either by removing it entirely or deprioritizing it. Other advantages of the framework include being able to prioritise data cleansing tasks and determining what data should be processed first and placed into fast access memory. We show existing example algorithms that can be used for each component of the framework, and present some initial testing results as part of our research to determine whether the framework can help to reduce ETL time.

Many people share their activities with others through online communities. These shared activities have an impact on other users' activities. For example, users are likely to become interested in items that are adopted (e.g. liked, bought and shared) by their friends. In this paper, we propose a probabilistic model for discovering latent influence from sequences of item adoption events. An inhomogeneous Poisson process is used for modeling a sequence, in which adoption by a user triggers the subsequent adoption of the same item by other users. For modeling adoption of multiple items, we employ multiple inhomogeneous Poisson processes, which share parameters, such as influence for each user and relations between users. The proposed model can be used for finding influential users, discovering relations between users and predicting item popularity in the future. We present an efficient Bayesian inference procedure of the proposed model based on the stochastic EM algorithm. The effectiveness of the proposed model is demonstrated by using real data sets in a social bookmark sharing service.